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`A Library of LabVlEW
`Virtuai Instruments
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`for Motion Control
`
`Developed by Snider Consulmnfs, Inc.
`
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`Compumotor Division
`Parker Hannifin Corporation
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`EXHIBIT 1015
`
`Page 1 of 113
`RGBINSP00017944
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`Page 1 of 113
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`

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`
`
`Motion Toolboxm User Guide
`
`A Library of LabVIEW® Virtual Instruments
`for
`’
`
`Motion Control
`
`Version 1.0
`
`March 1994
`
`Part Number 88—013929—01
`
`\% 0ng§
`
`© Copyright 1994 Snider Consultants, Inc.
`All Rights Reserved.
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`Warnings
`
`
`
`Because software controls machinery, test any software control for safety
`under all potential operating conditions. Failure to do so can result in damage
`
`
`to equipment and/or serious injury to personnel.
`
`Limited Warranty
`
`Compurnotor warrants that the software will perform substantially in
`accordance with the accompanying material for a period of ninety (90) days
`from the date of receipt. Any implied warranties on the software are limited
`to ninety days. Some states do not allow limitations on duration of an implied
`warranty, so the above limitation may not apply to you.
`
`Compumotor's entire liability and your exclusive remedy shall be at
`Compumotor's option, either (a) return the price paid or (b) replacement of the
`software that does not meet Compumotor's Limited Warranty and that is
`returned to Compumotor with a copy of your receipt. This limited warranty is
`void if failure of the software has resulted from accident, abuse, or
`misapplication. Any replacement of software will be warranted for the
`remainder of the original warranty period or thirty (30) days, whichever is
`longer.
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`Compumotor disclaims all other warranties, either expressed or implied,
`including but not limited to implied warranties of merchantability and
`fitness for a particular purpose, with respect to the software and the
`accompanying written materials. This limited warranty gives you specific
`legal rights. You may have others which vary from state to state.
`
`In no event shall Compumotor or its suppliers or distributors be liable for
`any damages whatsoever (including, without limitation, damages for loss
`of business profits, business interruption, loss of business information, or
`other pecuniary loss) arising out of the use or inability to use this
`Compumotor product, even if Compumotor has been advised of the
`possibility of such damages. Because some states do not allow the
`exclusion of limitation for liability for consequential or incidental damages,
`the above limitation may not apply to you.
`
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`Page 3 of 113
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`Copyright
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`Under copyright laws, this publication may not lie reproduced or transmitted in
`any form, electronic or mechanical, including photocopying, recording, storing
`in an information retrieval system, or translating, in Whole or part, without the
`prior written consent of Snider Consultants, Inc.
`
`Trademarks
`
`Motion Toolbox is a trademark of Snider Consufltants, Inc.
`
`Motion Architect is a registered trademark of Parker Hannifin Corporation,
`Compumoror Division.
`
`LabVIEW is a registered trademark of National lnstrumems Corporation.
`
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`Windows is a registered trademark of Microsoft Corporation.
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`Page 4 of 113
`RGBINSPOOM 7947
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`..............
`Software Requirements. . ..
`
`PreLInstallation Procedure..........................
`2
`installation Procedure ..................
`Motion Toolbox Registration .
`
`Getting Started ........... . ..........
`Related Publications .............................................................. 5
`Using Motion Toolbox
`.ouo..-.u.u.--.--"an“...........--un...u.-n7
`Device Communication ............................................................. 7
`Common Vl inputs and Outputs...
`.........
`7
`
`Motion Toolbox Error Handling........................ 9
`6000 Controller Error Handling
`......................
`.. 9
`
`Reducing Vl load Time......................
`.
`...........
`9
`Timer Resolution....................... 10
`
`VI Labeling Conventions
`........................... 10
`
`Sold and Non-bold
`............
`.. 10
`Default Inputs ........................................................... 10
`Counter 8: Timer Vls
`......11
`Counter & Timer Vl Descriptions....................
`............ 11
`Start 6000 Timer.............................. 11
`
`
`........... 12
`Stop 6000 Timer
`Configure Encoder input as Cou ter ...............
`12
`
`Reset 6000 Hardware Counter .................................... 13
`Configuration Vls
`.......15
`Configuration Vl Descriptions
`.......................................... 15
`Set Motion Scaling Factors.................... 15
`
`Set Path Scaling Factors ............... 16
`
`...........
`Enable Scale Factors
`. 17
`
`.
`Set Participating Axes ...................
`1 7
`Configure Command Control ..
`18
`
`Set Continuous/Preset Mode ......................
`19
`
`Set Absolute/Incremental Mode ............. 19
`Set Drive Resolution ................................... 20
`
`.........................
`Set Drive Fault Level
`20
`..............
`.
`. 21
`Enable Drive..................... .
`
`Configure Feedrate Override ..
`...........
`.. 22
`Enable Feedrate Override ...............................
`. 23
`Set Encoder Resolution ............................. 23
`
`Set Encoder/Motor Step Mode ..................................... 24
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`Configure Homing ...................................................... 24
`Configure Position Maintenance ................................... 26
`Enable Position Maintenance ....................................... 27
`
`Configure Stali Detection .......
`.. 2']
`..................... 28
`Enable Stall Detection
`Set Pulse Width ......................................................... 29
`
`4
`
`Device Communication31
`
`Device Communication Vi Deacriptions.....
`31
`Open AT64~00 ......................
`3i
`
`Open 6200..
`..................................................... 32
`
`Close Device ............................................................. 33
`Set Default Addr/Port.
`33
`
`Reset 6000.......................... 33
`
`Set Error Action .........
`..
`34
`
`Set Parameter Precision
`34
`Set AT6400 Polling Parameters
`............. 35
`
`Set 6200 i’oliing Parameters
`36
`Send 6000 Block ....................................
`36
`
`Receive 6000 Block ................................
`37
`
`Query 6000..............
`37
`
`...................................
`Download 6000 File...
`38
`
`Enable Communications Tracing ..........................
`38
`Configure Communications Tracing
`39
`Delete Trace File .................................................. 40
`Command Snooper .................................................... 40
`Fast Status Vls. .........
`........41
`........................................... 41
`Fast Status Vi Descriptions ..
`
`Get Fast Status .............................................. 4i
`
`Set Motor Pos Local Scaiing .....
`.. 43
`
`Set Encoder Pos Local Scaling ..
`.............. 43
`Set Velocity Local Scaling ........
`44
`Motor Position Parse ..................
`.. 45
`
`.. 45
`Encoder Position Parse ..............
`
`.. 46
`Velocity Parse ..................
`
`Pas. Captured Status Parse ......................
`r. 47
`.. 47
`Command Error Parse ..............................
`
`Configuration Status Parse .......
`48
`Encoder Feedback Status Parse ................................... 48
`Hard Limit Status Parse .............................................. 49
`Motion Status Parse ............ .
`. 49
`
`Soft Limit Status Parse ............. 50
`
`....... 51
`System Status Parse
`
`Drive Status Parse .......................
`. 52
`User Status Parse ...........................................
`S3
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`Analog Input Parse ....................................... 54
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`.............................. 54
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`Joystick Status Parse ........
`.
`. 55
`
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`............................ 56
`Digital Output Status Parse ..
`I
`Other Input Parse......................................... 56
`Digital Input Parse ...................................................... 57
`_I
`”0 8: LimitVls......59 III
`I/O & Limit v: Descriptions ...................................................... 59
`‘3
`
`.. 59
`Set 6000 Input Active Level..
`:5
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`Enable 6000 Inputs ..............
`60
`.III
`
`Set 6000 Input Function ......................... . ........ 61
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`Enable 6000 Input Functions ......
`.. 62
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`Set 6000 Input Debounce Time ..
`................ .............. 62
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`Set 6000 Output Active Level ..
`.............................. 63
`If”;
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`Enable 6000 Outputs ................... 64
`III“;
`Set 6000 Output Function ....................... 64
`I:
`
`Enabie 6000 Output Functions .
`................ 65
`f“
`
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`Set 6000 Output States ..........
`66
`(If g
`Configute Hard Limits ........... 67
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`Enable Hard Limits ........................................
`. 67
`“I
`
`3
`.. 68
`Configure Soft Limits.
`II
`
`Enable Soft Limits .................
`.. 69
`I "
`Enable Analog Input Override................................
`. 69
`
`:I
`. 70
`Set Analog Input Override Voltage ........................
`
`If.
`. 71
`Define 6000 User Status ...............
`,j I
`Enable 6000 UserStatus 72
`' It
`,
`Jogging & JoystickVls.73 II
`Jogging and Joystick VI Descriptions ........................................ 73
`I 'y
`Enable Jog Mode ......................... 73
`t
`
`Set Jog Velocity Low ................... 74
`I
`
`Set Jog Velocity High.........
`74
`5.
`
`Set Jog Acceleration .....
`75
`f
`Set Jog Deceleration ...........................
`75
`g
`
`Enable Joystick Mode ..........................
`76
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`
`Set Joystick Velocity Low....
`76
`“if
`Set Joystick Velocity High ..............
`....77
`.3 g
`
`Set Joystick Acceleration................
`77
`W
`. .. 78
`Set Joystick Deceleration.....
`III
`
`Setup Joystick Electronics .........................
`78
`III
`Set Joystick Analog Inputs .........................
`. 79
`v'
`Set Joystick Zero ....................................................... 80
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`Miscellaneous Vls 81
`Miscellaneous Vl Descriptions ................................................. 81
`.. 81
`Numeric Event .....................................
`.
`.. 82
`Booiean Event
`
`
`
`Boolean Transition ..................................................... 83
`MotionVisas
`Motion Vi Descriptions ........................................................... 85
`initiate Motion....
`85
`Stop Motion....
`................. 86
`Kill Motion
`................. 87
`Set Velocity
`.. 88
`
`Set Acceleration .
`....................................
`88
`Set Deceleration
`. 89
`
`Set Direction.....
`89
`
`Go Home .........................................
`90
`Initiate Linear Int. Motion .................................
`.. 90
`
`.. 91
`Set Position .......................
`Wait for Move Complete ............................
`.. 92
`
`.. 92
`Run Path .................................................
`
`Set Path Vel & Ace.
`. ..83
`Run Program ............................................................. 93
`
`RP24O Display Vls . ...... . ...... ............................................. 95
`RP24G v: Descriptions................................................... 95
`
`Write Text to RP24O ...........
`... 95
`Display Variable on RP240
`......... 96
`
`Set RP240 LED States ............... 96
`
`Clear RP240 Display .....
`.. 97
`Position RP240 Cursor...
`............................ 97
`Enable RP240 Jog Mode
`.......................... 98
`Set RP24O Password 99
`
`........ 101
`Variable & Transfer Vls.. ....................................
`Variable 81 Transfer VI Descriptions ........................................ 101
`
`.. 101
`Set Numeric Variable”
`
`Set Binary Variable...... ..
`................................... 102
`Set Binary Variable by Byte.
`102
`
`.. 103
`Set String Variable .............
`Transfer Numeric Variable .........................
`. 103
`
`Transfer Binary Variable ............................
`. 104
`
`Transfer String Variable .............. 104
`Transfer Captured Positions .........................
`105
`Miscellaneous Transfers ............................................ 106
`
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`Page 8 of 113
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`
`............107
`Appendix
`
`Motion Toolbox Error Codes ................................................. 107
`Technical Support ..............................
`.. 108
`
`
` .. .Compumotor Bulletin Board Service...... .. 108
`Systems Integration and Consulting...
`Motion Toolbox V! Index (alphabetical)
`
`109
`
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`
`
`Introduction
`\\
`
`Overview
`
`Motion Toolbox is a library of LabVlEW VIs for Compumotor's 6000 series
`of motion controllers. Motion Toolbox allows LabVIEW programmers to
`develop motion control systems for a wide range of applications including
`automated test and manufacturing, medical and biotech, metering and
`dispensing, machine control, and laboratory automation. Motion Toolbox
`suppoxts both the Compumotor AT6400 4-Axis and 6200 2-Axis Indexers.
`Motion Toolbox provides developers with the following capabilities and more:
`0 Motion control including velocity, acceleration, deceleration, go, stop,
`kill. etc.
`Setup, control, and command file transfer
`Counter and timer configuration and control
`Indexer, encoder, and drive configuration
`Home, hardware limit, and soft limit configuration
`Jogging and joystick configuration
`I/O setup and function configuration
`Fast status querying of 1/0, limit, home, motor and encoder position,
`velocity, etc.
`
`To use Motion Toolbox effectively, you should have a working knowledge of
`LabVlEW and have at least worked through the LabVIEW Tutorial manual.
`
`Installation
`
`Package Contents
`
`t Motion Toolbox installation disks
`0 Motion Architect” installation disks
`0 Motion Toolbox Uxer Guide
`0 User registration card
`.
`License agreement
`
`
`
`‘i
`
`Introduction
`
`I?
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`Page I
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`Page 10 gGBINSP00017953
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`Motion Toolbox User Guide
`
`If any of these items are missing, please contact your local supplier or
`Compumotor's Customer Service Department at 800-358-9068 or 707-584~
`7558.
`
`Software Requirements
`
`0
`
`LabVIEW for Windows version 3.0. See the Required System
`Configuration in the LabVIEWfor Windows Release Notes.
`. Motion Architect version 2.2 or higher.
`0
`If you are using an AT6400 Controller, you need software revision 2.2 or
`higher of the AT6400 operating system.
`If you are using a 6200 Controller, you need software revision 2.1 or
`higher of the 6200 system software.
`
`-
`
`
`
`
`
`
`
`Pro—Installation Procedure
`
`1.
`
`2.
`92
`
`Install your 6000 Series controller as indicated in the Compumotor User
`Guide for your product.
`Install Motion Architect 2. 2, if it is not already on your computer.
`Using Motion Architect, ensure the 6000 controller functions properly.
`For help, refer to the Motion Architect documentation shipped with your
`controller.
`
`4. Copy the following files from your Motion Architect 2.2 (or higher)
`directory to your LabVIEW root directory.
`WINMOO‘DLL
`METERDLL
`AT6400.0PS
`
`Warning: Motion Toolbox cannot communicate with the AT6400
`controller without these files in the LabVIEW root directory.
`
`
`Warning: [I is important that the some MN6400.D£L, METER.DLL, and
`AT6400. OPS file: exist in both the Motion Architect directory and LabVIEW
`root directory. If thefiles are not the some, conflicts may arise when using
`
`Motion Toolbox in the same Windows session as Motion Architect. You should
`
`always use the latest version ofthese files that are available.
`
`
`
`
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`Page 2
`
`Introduction
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`Page 11 of 113
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`installation Procedure
`
`Motion Toolbox User Guide
`
`Motion Toolbox is distributed in compressed form on 3.5” floppy disks. A
`Windows setup program is provided to install the software on your hard drive.
`To install Motion Toolbox, complete the following steps:
`I. Start Windows.
`2. Place disk I of the Motion Toolbox installation disks in your 3.5” floppy
`drive.
`3. From the Program Manager, choose File/Run.
`4. Type A:SETUP.EXE and select OK.
`If drive A is not your 35" drive,
`substitute A: with the appropriate drive letter.
`Follow the directions given by the setup program for the remainder of the
`installation.
`
`5.
`
`Motion Toolbox Registration
`
`To receive free technical support and update information, please fill out the
`postage paid software registration form and drop it in the mail.
`
`Getting Started
`
`The following steps will help you get started using Motion Toolbox.
`
`1.
`
`If you are not already familiar with LabVIEW, you should at least work
`through the LabVIEW tutorial manual.
`
`2. Read the Using Motion Toolbox chapter of this user guide
`
`3. Become familiar with the Motion Architect software. The Motion
`Architect terminal program is an excellent utility for debugging 6000
`series controller applications. If you encounter problems using Motion
`Toolbox, use Motion Ardu‘tect to verify your 6000 controller is functioning
`properly. See the description for the Download 6000 File V1 for more
`ways to use Motion Architect for application development.
`
`
`
`Introduction
`
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`4.
`
`Read the indexer user guide for your product. If you wish, you can skim
`the examples on programming the 6000 controller as Motion Toolbox will
`isolate you from most of these details.
`
`Read the6000 Series Command Language Overview chapter in the 6000
`Series Soflware Reference Guide. This will provide important information
`on system performance, 6000 inputs and outputs, and programming
`restrictions. Because Motion Toolbox essentially assembles 6000 series
`commands and sends them to the controller, you may want to read the
`commands related to your application in the 6000 Series Sofiware
`Reference Guide. Each VI description in this manual lists the applicable
`6000 commands related to the VI.
`
`Review the example and demonstration Vls included with Motion Toolbox.
`Study the diagrams to see how Motion Toolbox Vls are used. Try
`modifying and adding your own ideas to these examples to get a feel for
`programming with Motion Toolbox. Make sure to rename the example
`and demonstration Vls before modifying.
`
`Ii you accepted the default demo directory when installing Motion
`Toolbox, you will find the example and demonstration VIs located in
`MTDEMO off the LabVlEW root directory.
`
`located in the
`3.. Open the Simple Preset Motion. VI
`\LABVIEW‘tMTDEMmEXAMPLESLLB VI Library.
`b.
`If you have an AT6400, verify that the address setting in the VI
`diagram is the same as your installed ATMOO.
`if you have a 6200, you
`must replace the Open AT6¢00 VI with the Open 6200 VI and change the
`input address from 768 to the proper serial communications port (usually
`COMI or COMZ). Put the VI in Edit Mode (CTRL-M) to make these
`changes.
`c. Return to the front panel, the V1 is now ready to run. Press the Run
`button (arrow button).
`d. The V1 is now running. Enter a distance to travel and press the GO
`button on the front panel to initiate motion. The commanded distance is
`relative to an absolute counter in this case.
`In order for the motor to
`move, the value displayed in the distance control must differ from the
`current position indicated on the chart.
`e.
`If the motor does not move, consult the Getting Started Section of the
`Hardware Reference guide for your particular controller.
`
`W P
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`Introduction
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`Related Publications
`O
`
`AT6400 Indexer User Guide
`
`6200 Indexer User Guide
`6000 Series Saflware Rg‘erence (hide
`Marian Architect User GuIZe
`
`LabVIEWfor Windows 3.0documentation set
`LabVIEWImtallation Nate:
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`-
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`Current Parker Compumotor Motion Control Catalog
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`"7'
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`3;
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`Using Motion Toolbox
`-—————_\
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`Device Communication
`
`Motion Toolbox
`
`communications-based 6200. To commumcatc with the AT6400, Motion
`Toolbox calls low level DLL routines thro
`
`f2?
`
`l
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`'i’ ¥
`"
`
`
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`'_
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`\
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`.5
`‘3
`
`MostMotionToolbox Vlshaveseveralcommoninputandoutputterminals.
`TheyaredefinedbelowtoavoxdredundancyinVIdescriptions.
`UsingMotionToolbox
`Page7
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`Motion Toolbox User Guide
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`@ Execute VI? Specifies whether the VI should execute normally or
`do nothing and return.
`in applications dealing with control cards, data acquisition cards, or
`instruments, should send setup and configuration information to the
`card only when the information changes. This avoids needless
`communication that degrades the performance of the application and
`
`A solution is to embed a VI that communicates with the device
`within a true/false case statement that executes only when
`
`
`
`“meson,“flaw»-.
`
`controller receives them. Non-immediate commands are buffered
`and will execute when the previons non-immediate command(s) are
`completed.
`
`True: Pro-pend commands by the immediate specifier.
`False: Do not pre—pend commands by the immediate specifier.
`i Addr/port specifies either the switch~selccted address or the
`AT6400 product or the serial port connected to a 6200 product.
`6200 Product:
`
`1: Communications port 1
`2: Communications port 2
`3: Communications port 3
`4: Communications port 4
`AT6400 Product:
`Valid AT6400 address (768 to 1023 decimal, 300 to 3FF hex)
`1 Axis. Specifies the axis the VI affects. Valid 6200 axes are 1-2.
`Valid AT6400 axes are 1-4.
`
`Page 8
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`Using Motion Toolbox
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`3
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`Motion Toolbox User Guide
`
`A better way is to compile all the Motion Toolbox .LLB files using
`LabVIEW's mass compile feature. To do this, select Mass Compile... under
`LabVIEW's File menu. Now select the \MOTION directory (should be
`located off LabVIEW‘s VLLIB directory) that holds the Motion Toolbox Vls.
`You can also select each .LLB file separately. If you elect to mass compile
`the entire MOTION directory of .LLBs, it may take a while to execute. See
`the LabVIEW 3. Ofor Windows User Manual for more information on mass
`compiling.
`
`Timer Resolution
`
`The default resolution of the timer functions included with LabVIEW for
`Windows is 55 milliseconds You can increase the resolution to 1 ms by
`altering the LabVIEW preferences file (see IabVTEW release notes). Using
`the 1 ms timer resolution dramatically increases the performance of 6000
`communications, particularly with the 6200. Under certain circumstances,
`however, the increased interrupt load caused by the higher resolution timer
`may exceed your PCs capacity to handle the interrupts. Please read the section V
`Timer Resolution in the LabVIEW release notes to see if a 1 ms resolution will
`be appropriate for your application.
`
`Using Motion Toolbox
`
`Vl Labeling Conventions
`
`Bold and Non-bold
`
`The 1/0 parameters of Motion Toolbox VIs are labeled in bold and non—bold
`text. A bold label indicates the parameter is important and is normally wired
`when the VI is used in an application. Non-bold labels indicate that the
`parameter can often be left unwired, thereby using the default, without
`affecting the V15 primary function.
`
`Default Inputs
`
`Parenthesis ( ) on the label of an input parameter indicate the default value the
`VI will automatically use if the terminal is left unwired. The inputs of many
`VIs in Motion Toolbox default to “no change’ meaning that no change is made
`to the current setting.
`
`W P
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`True: Reset and Stan timer.
`6000 command reference: TIMST
`
`the 6000tunerbeforestamng
`False:Resumecountingfromcunentvalue.
`
`
`
`lmmdiata? {T1 --
`Execute W? (T) -~-->~~: 5
`Addrlport (default
`1 tamAddrlpofl on!
`Rate! before flan? {U 4“”
`
`
`-
`,
`,,
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`"
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`'
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`-
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`v
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`Motion Toolbox User Guide
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`Stop 6000 Timer
`
`lmmetiate? [T] “W"?
`
`Error
`
`Addra’pori out
`
`Stops the 6000 timer. To get the value of the timer, use the Get Fast Status
`and Timer Statm' Parse V15.
`
`6000 command reference: TIMSTP
`
`Configure Encoder Input as Counter
`
`m;
`Immediate? (T! M
`Execute VI? [T] "rm-W“;
`Addrlport (default)
`Asia [1]
`
`,
`
`Currier/encoder [encoder] W3
`
`
`
`
`Counter/encoder.
`
`True: Configure input as up/down counter.
`False: Configure input for encoder feedback.
`6000 command reference: CNTE
`
`Page 32
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`Counter & Timer VI:
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`Addriport out
`
`Inmdiate? [T] ------—~5
`Ema V}? [T1 "““fl 5
`Addr/pozl [default] _
`Axis 1 [F=don't retell -‘ .
`5
`i
`Axis 2 [F=don't retell —~‘
`Ali: 3 [chon't retell “Wm-*3
`Axis 4 [Frdon't retell ”MW
`
`Clears specified encoder registers that are configured as counters. The
`counters can also be cleared by applm‘ng a positive differential signal to 2+
`and 2*.
`
`@ Axis 14. A true resets the respective counter.
`
`6000 command reference: CNTR
`
` Motion Toolbox User Guide
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`Configuration Vls
`
`
`This chapter contains descriptions of the configuration VIs included with
`Motion Toolbox. The figure below displays the Configuration function palette
`
`an:
`
`Set"
`
`(moi
`
`----
`
`Mamie
`
`Configuration erction Palette
`
`Configuration VI Descriptions
`
`Set Motion Scaling Factors
`
`lmediate? [T] WWW“?
`Execute Vi? [T] ~~w
`Addrlpott [delaull]
`m [I]
`Dist. factor [11
`Vel. factor [25000]
`
`"new:
`gm
`
`Ace. [actor [25000]
`
`Addrlpmt out
`Emu
`
`Sets scale factors for distance, velocity and acceleration The 6000 controller
`internally multiplies the values issued via the Set Distance, Set Velocity and Set
`Acceleration V15 by the appropriate scaling factor provided scaling'ts enabled
`by the Enable Scale Factors VI.
`
`-:; Dist. factor specifies the distance scale factor for the respective
`axis. Valid range is l to 999,999.
`
`
`
`Configuration V1:
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`Page 15
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`
`Velocity factor specifies the velocity scale factor for the respective
`axis. Valid range is l to 999,999.
`
`6000 command reference: SCLD, SCLV, SCLA
`
`immediate? {T} MW”;
`EmaneVl? m w~~~~~~
`Addrlpod [default]
`Dist. factor [1)
`Velocity factor [25000)
`
`”W
`
`Aecel factor [25000)
`
`Addrlporl out
`
`
`
`Dist. factor specifies the path distance scale factor for contouring
`and linear interpolated moves. Valid range is l to 999,999.
`
`Velocity factor specifies the path velocity scale factor for
`contouring and linear interpolated moves‘ Valid range is l to
`999,999.
`
`Accel factor specifies the path acceleration scale factor for
`contouring and linear interpolated moves. Valid range is I to
`999, 999.
`
`6000 command reference: PSCLD, PSCLV, PSCLA
`
`Page I6
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`Configuration V15
`
`g:
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`Enable Scale Factors
`
`Motion Toolbox User Guide
`
`lmmerfiale? [T] -—~---~
`Execute VI? {T} ~~—-~. S
`Addn'norl (default)
`‘
`'
`Enable? m
`
`'
`
`Error
`
`Addrlpofl out
`
`Enables and disables the acceleration, distance and velocity scaling factors.
`When enabled, all distance, veloci
`ty, and acceleration values are multiplied by
`the appropriate scale factor.
`Enable?
`
`True: Enable scale factors.
`False: Disable scale factors.
`
`6000 command reference: SCALE
`
`Set Participating Axes
`
`
`
`lmmefiale? (TI -"—---
`Execute VI? (T) ”M“
`Addrlpod [default]
`Parficiaating one: [4] @
`
`Addrlport out
`
`
`
`
`
`Defines the total number of axes to be controlled by the 6000 series product.
`The 6000 controller defaults to control all axes for the product.
`Participating axes sets the number of axes to be controlled by the
`6000 controller. Valid range is zero to four and is product
`dependent.
`
`6000 command reference:
`
`lNDAX
`
`5 il
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`Page 17
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`Configuration V1.9
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`momm
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`Motion Toolbox User Guide
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`Configure Command Control
`
`--'
`
`2
`lmmotfiate? (T) we...“
`Execute VI? (U WW i
`Addn’porl [comm
`3
`5
`Enable confirm: cunt! mode?._.
`Other commami control
`Continue Exec. on Limit (al...
`Cominue Exec. on in Positim
`
`‘
`
`'5:
`
`Addrlporl om
`
`3
`
`-
`
`
`
`
`
`-4-."W“acme...”
`
`
`«w.‘u(,“M”
`.lt.»M.“he.».
`
`In many
`Configures several runotime modes in the 6000 controller.
`applications it is appropriate to execute this VI with the default settings. You
`may want to experiment with different settings for your application. Refer to
`the 6000 Series Sofiware Reference Guide for a full explanation of these
`configuration modes.
`
`_3 Enable continuous cmd mode? Normally, when a motion command
`is received, command processing is temporarily paused until motion
`is complete. When continuous command mode is enabled,
`command processing continues while motion is in progress.
`True: Enable continuous command mode.
`False: Disable continuous command mode.
`_ Other command control determines how the controller will respond
`after receiving a KILL, PAUSE/RESUME or STOP command.
`
`Continue Exec. on Limit determines whether the controller's
`command buffer will be saved upon hitting an end»of-travel limit or
`a soft limit. If enabled, all commands following the command
`currently being executed will remain in the buffer when a limit is
`encountered. Otherwise the commands in the buffer will be
`discarded.
`
`Continue Exec. on In Position determines whether the command
`processing will pause until the int-position signal is received from the
`drive. If enabled, command processing is paused until the in-
`position input is active.
`
`6000 command reference: COMEXC‘, COMEXK, COMEXL, COMEXP,
`COMEXR, COMEXS
`‘
`
`Page 18
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`Configuration VI:
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`lmmecfiate? {T} M~~~~~~~
`
`Execute VI? [T]
`Addriport [default]
`Axis 1 [no change)
`Axis 2 [no change]
`Axis 3 [no change}
`Axis 4 [no change}
`
`
`
`
`
`3
`
`Addrfport out
`
`Error
`
`
`
`Specifies whether the axes are to move in a continuous fashion at a specified
`velocity or move a preset distance established with the Set Distance VI.
`Aids 1-4 determines the mode for the respective axis.
`0: Configure axis for preset mode.
`1: Configure axis for continuous mode.
`2: Do not change active setting.
`6000 command reference: MC
`
`Set Absolute/Incremental Mode
`
`
`
`immediate? [T] w------“g
`Execute VI? {T} ~~~~~~~g
`Addtlpott (default)
`Axis I [no change}
`A33: 2 {no change}
`Axis 3 [no change)
`Axis t [no change]
`
`Error
`
`Addrlport out
`
`Specifies whether subsequent moves are made vvith respect to the current
`position (incremental) or with respect to an absolute zero position.
`_ Axis 1-4 determines the mode for the respective axis.
`0: Configure axis for incremental mode.
`l: Configure axis for absolute mode.
`2: Do not change active setting.
`6000 command reference: MA
`
`
`
`Configuration W:
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`Page I 9
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`Set Drive Resolution
`
`Adddpotl out
`
`.,
`Immediate? (T)
`Execute“? {T} ~—--——~—~—.E ;
`Addtlporl {defiant}
`.‘
`Attic 1 [no change]
`Ania 2 [no change)
`A16: 3 [no change]
`Axis 4 [no change)
`
`Configures the step motor controller resolution to match that of the
`motoridrive to which it is attached. This is necessary to accurately calculate
`motor velocities and accelerations. The default resolution is 25,000 steps per
`revolution for Compumotor step motor controllers.
`
`g
`
`Axis 1-4 determines th